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<div class="title">D:/Workspace/Arduino/prencar/ExtendedMove.h</div>  </div>
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<a href="_extended_move_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef ExtendedMove_h</span>
<a name="l00002"></a>00002 <span class="preprocessor"></span><span class="preprocessor">#define ExtendedMove_h</span>
<a name="l00003"></a>00003 <span class="preprocessor"></span>
<a name="l00004"></a>00004 <span class="preprocessor">#include &quot;Arduino.h&quot;</span>
<a name="l00005"></a>00005 <span class="preprocessor">#include &quot;<a class="code" href="_move_8h.html">Move.h</a>&quot;</span>
<a name="l00006"></a>00006 
<a name="l00007"></a><a class="code" href="struct_move_command.html">00007</a> <span class="keyword">struct </span><a class="code" href="struct_move_command.html">MoveCommand</a>{
<a name="l00008"></a><a class="code" href="struct_move_command.html#a418c23b406cdbd5a872caa5530b050ea">00008</a>   <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="struct_move_command.html#a418c23b406cdbd5a872caa5530b050ea" title="Will be set as soon as the execution of this command starts.">startedMillis</a>; 
<a name="l00009"></a><a class="code" href="struct_move_command.html#ada8cf3cf629ff7847de2844abb8db7ad">00009</a>   <span class="keywordtype">int</span> <a class="code" href="struct_move_command.html#ada8cf3cf629ff7847de2844abb8db7ad" title="Defines for how long this command shall be executed (milliseconds).">duration</a>; 
<a name="l00010"></a><a class="code" href="struct_move_command.html#a88e7e4c62bf65a3cf306ff587dd8b55b">00010</a>   <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02">TMotorDirection</a> <a class="code" href="struct_move_command.html#a88e7e4c62bf65a3cf306ff587dd8b55b">dirLeftMotor</a>;
<a name="l00011"></a><a class="code" href="struct_move_command.html#a6ab4371e644543e7d92dd4f5439998d0">00011</a>   byte <a class="code" href="struct_move_command.html#a6ab4371e644543e7d92dd4f5439998d0">speedLeftMotor</a>;
<a name="l00012"></a><a class="code" href="struct_move_command.html#a645219cea821358f4a3ae7c8e2192ed9">00012</a>   <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02">TMotorDirection</a> <a class="code" href="struct_move_command.html#a645219cea821358f4a3ae7c8e2192ed9">dirRightMotor</a>;
<a name="l00013"></a><a class="code" href="struct_move_command.html#aa573be1cf5e1dc2cb21bed08980d379c">00013</a>   byte <a class="code" href="struct_move_command.html#aa573be1cf5e1dc2cb21bed08980d379c">speedRightMotor</a>;
<a name="l00014"></a>00014 };
<a name="l00015"></a>00015 
<a name="l00026"></a><a class="code" href="class_extended_move.html">00026</a> <span class="keyword">class </span><a class="code" href="class_extended_move.html" title="Allows to define extended car control instuctions.">ExtendedMove</a>
<a name="l00027"></a>00027 {
<a name="l00028"></a>00028 <span class="keyword">private</span>:
<a name="l00029"></a><a class="code" href="class_extended_move.html#a024e8f637662966bece3ae472feca23d">00029</a>   <span class="keyword">static</span> <a class="code" href="class_extended_move.html" title="Allows to define extended car control instuctions.">ExtendedMove</a> <a class="code" href="class_extended_move.html#a024e8f637662966bece3ae472feca23d" title="Static reference to the singleton object.">_instance</a>;
<a name="l00030"></a><a class="code" href="class_extended_move.html#a54bdfab5b9684ba2ede313e438d11611">00030</a>   <span class="keyword">static</span> <span class="keywordtype">boolean</span> <a class="code" href="class_extended_move.html#a54bdfab5b9684ba2ede313e438d11611">_instanceCreated</a>;
<a name="l00031"></a><a class="code" href="class_extended_move.html#a2af24920a90b5da13c36c78e9f0053f7">00031</a>   <span class="keyword">static</span> <span class="keywordtype">int</span> <span class="keyword">const</span> <a class="code" href="class_extended_move.html#a2af24920a90b5da13c36c78e9f0053f7" title="The max amount of commands the command queue can hold.">_MAXAMOUNTOFQUEUEDCOMMANDS</a> = 10; 
<a name="l00032"></a>00032 
<a name="l00033"></a><a class="code" href="class_extended_move.html#a1220d0c15a28d8d5e2baf32b02ad33bc">00033</a>   <a class="code" href="class_communication.html">Communication</a>* <a class="code" href="class_extended_move.html#a1220d0c15a28d8d5e2baf32b02ad33bc" title="The reference to the serial communication class.">_com</a>; 
<a name="l00034"></a><a class="code" href="class_extended_move.html#a920b4f3eb82cd5d59a136f2e4a6d3be5">00034</a>   <a class="code" href="class_move.html">Move</a>* <a class="code" href="class_extended_move.html#a920b4f3eb82cd5d59a136f2e4a6d3be5" title="The reference to the move class to control the motors.">_move</a>; 
<a name="l00035"></a><a class="code" href="class_extended_move.html#a10b4e2c0017fc427074934dae39b8971">00035</a>   <a class="code" href="class_configuration.html">Configuration</a>* <a class="code" href="class_extended_move.html#a10b4e2c0017fc427074934dae39b8971" title="The reference to the configuration class.">_conf</a>; 
<a name="l00036"></a>00036 
<a name="l00037"></a><a class="code" href="class_extended_move.html#a48469d3672fb0e89c02c81cc725528ff">00037</a>   <span class="keywordtype">boolean</span> <a class="code" href="class_extended_move.html#a48469d3672fb0e89c02c81cc725528ff" title="Set to false if the last queue has been executed fully.">_queueExecutionInProgress</a>; 
<a name="l00038"></a><a class="code" href="class_extended_move.html#acd3af4d980730abd98da550fbd3c5333">00038</a>   <span class="keywordtype">int</span> <a class="code" href="class_extended_move.html#acd3af4d980730abd98da550fbd3c5333" title="Id of the current executed command queue (will be increased each time a new command arrives)...">_currentCommandQueueId</a>; 
<a name="l00039"></a><a class="code" href="class_extended_move.html#a343c183651181db5fb85ed4084d9a7a2">00039</a>   <span class="keywordtype">int</span> <a class="code" href="class_extended_move.html#a343c183651181db5fb85ed4084d9a7a2">_currentCommandQueueSize</a>;
<a name="l00040"></a><a class="code" href="class_extended_move.html#a778375b1b506e93fb882cafd2ccf5b76">00040</a>   <span class="keywordtype">int</span> <a class="code" href="class_extended_move.html#a778375b1b506e93fb882cafd2ccf5b76" title="Index of command that is currently in execution.">_currentCommandIndexInQueue</a>; 
<a name="l00041"></a>00041   <span class="keywordtype">void</span> <a class="code" href="class_extended_move.html#adfe6e7de87eab16e9a85ad5434819fee">executeCommand</a>(<a class="code" href="struct_move_command.html">MoveCommand</a>* mc);
<a name="l00042"></a>00042 
<a name="l00043"></a>00043   <a class="code" href="class_extended_move.html#a4bf87fc8690c78ea76464cc8d006f528">ExtendedMove</a>();
<a name="l00044"></a>00044   <span class="keywordtype">void</span> <a class="code" href="class_extended_move.html#aef13add1eb55a57abf64adbf4ae5f149">begin</a>();
<a name="l00045"></a>00045 <span class="keyword">public</span>:
<a name="l00046"></a>00046   <span class="keyword">static</span> <a class="code" href="class_extended_move.html" title="Allows to define extended car control instuctions.">ExtendedMove</a>* <a class="code" href="class_extended_move.html#a8ba9c560726a121efa0c78f26780e46a">getInstance</a>();
<a name="l00047"></a><a class="code" href="class_extended_move.html#a5f34e9081613ec4d1796cac234b9cbb5">00047</a>   <a class="code" href="struct_move_command.html">MoveCommand</a> <a class="code" href="class_extended_move.html#a5f34e9081613ec4d1796cac234b9cbb5" title="Current queue with commands that are executed.">commandQueue</a>[<a class="code" href="class_extended_move.html#a2af24920a90b5da13c36c78e9f0053f7" title="The max amount of commands the command queue can hold.">_MAXAMOUNTOFQUEUEDCOMMANDS</a>]; 
<a name="l00048"></a>00048 
<a name="l00049"></a>00049   <span class="keywordtype">int</span> <a class="code" href="class_extended_move.html#a816f77b595c0ca03d44dd21b2d4de5ba">startCurrentQueue</a>(<span class="keywordtype">int</span> commandQueueSize);
<a name="l00050"></a>00050   <span class="keywordtype">void</span> <a class="code" href="class_extended_move.html#ab03bf2a16ad494c392c209d5c0b3b65d">doJob</a>();
<a name="l00051"></a>00051 
<a name="l00052"></a>00052   <span class="keywordtype">boolean</span> <a class="code" href="class_extended_move.html#a2d7b6db52a2c01d73e245c8648bdb5d6">isExecutionInProcess</a>(<span class="keywordtype">int</span> queueId);
<a name="l00053"></a>00053   <span class="keywordtype">boolean</span> <a class="code" href="class_extended_move.html#a2d7b6db52a2c01d73e245c8648bdb5d6">isExecutionInProcess</a>();
<a name="l00054"></a>00054 
<a name="l00055"></a>00055   <span class="keywordtype">int</span> <a class="code" href="class_extended_move.html#af44fd7e191b2484d1b70450835b43604">getCurrentCommandQueueId</a>();
<a name="l00056"></a>00056   <a class="code" href="struct_move_command.html">MoveCommand</a>* <a class="code" href="class_extended_move.html#a80ce42b3578e4fa17b6b2e3a05a70054">getCurrentCommandInQueue</a>();
<a name="l00057"></a>00057   <span class="keywordtype">int</span> <a class="code" href="class_extended_move.html#a27d912c36366495cd3b6b75f70b2b187">getCurrentCommandIndexInQueue</a>();
<a name="l00058"></a>00058   <span class="keywordtype">void</span> <a class="code" href="class_extended_move.html#ae80076eb8ea7ea00e7563e4bbf4657b6">stopCurrentQueue</a>();
<a name="l00059"></a>00059 
<a name="l00060"></a>00060 };
<a name="l00061"></a>00061 
<a name="l00062"></a>00062 <span class="preprocessor">#endif</span>
<a name="l00063"></a>00063 <span class="preprocessor"></span>
<a name="l00064"></a>00064 
<a name="l00065"></a>00065 
<a name="l00066"></a>00066 
<a name="l00067"></a>00067 
<a name="l00068"></a>00068 
<a name="l00069"></a>00069 
<a name="l00070"></a>00070 
<a name="l00071"></a>00071 
<a name="l00072"></a>00072 
<a name="l00073"></a>00073 
<a name="l00074"></a>00074 
<a name="l00075"></a>00075 
<a name="l00076"></a>00076 
<a name="l00077"></a>00077 
<a name="l00078"></a>00078 
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